Pablo Gonzalez De Santos - Academia.edu (original) (raw)

Uploads

Papers by Pablo Gonzalez De Santos

<jats:title>Abstract</jats:title> <jats:p>In this paper four different methods ... more <jats:title>Abstract</jats:title> <jats:p>In this paper four different methods for body attitude control are evaluated for their effectiveness. One of them uses all axes to level the body. The other three utilize only the vertical axes. The difference among these methods is the amount of geometric information used to calculate the intended motion and resultant differences in the motion of the machine when applying these methods. Simulations and experiments on the AMBLER walking machine were used to evaluate these differences. The all-axes attitude control method considers complete geometry thereby avoiding foot slippage, but this is at the cost of higher energy expenditure to servo three motions per leg.</jats:p>

Field Robotics, 2011

ABSTRACT

Journal of Intelligent and Robotic Systems, 2002

Walking locomotion has been proved as an adequate technique for autonomous motion on an uneven te... more Walking locomotion has been proved as an adequate technique for autonomous motion on an uneven terrain. However, natural scenarios can be extremely complex and human intervention is regularly required. In such a case, a dialogue system known as human–machine interface (HMI) is essential for interrelation between human and machine. The objective of this paper is to present a human–machine interface

Sensors and Actuators A: Physical, 1999

The knowledge of the true position of a walking machine (rover) in an inertial reference frame is... more The knowledge of the true position of a walking machine (rover) in an inertial reference frame is a problem of paramount importance for realistic application of mobile robots. The points of the robot follow three-dimensional trajectories even on even terrain. When no position feedback is possible, a good knowledge of the dynamical behaviour of the rover is needed to get

Quadrupedal Locomotion, 2006

Proceedings of International Conference on Robotics and Automation

Legged locomotion has been extensively investigated in the last two decades, during which time ma... more Legged locomotion has been extensively investigated in the last two decades, during which time many walking machines have been built as test-beds for research purposes. Legged locomotion technology now seems to be ready to take on industrial applications. This paper presents a legged machine-ROWER-for a real industrial application in naval construction processes. The main task of the walking machine is

Environmental contamination and the resulting climate change are major concerns worldwide. Agricu... more Environmental contamination and the resulting climate change are major concerns worldwide. Agricultural vehicles that use fossil fuels emit significant amounts of atmospheric pollutants. Thus, this study investigates techniques to reduce fuel consumption in robotic vehicles used for agricultural tasks and therefore reduce atmospheric emissions from these automated systems. A hybrid energy system for autonomous robots devoted to weed and pest control in agriculture is modeled and evaluated, and its exhaust emissions are compared with those of an internal combustion engine-powered system. Agricultural implements require power for hydraulic pumps and fans; this energy is conventionally provided by power take-off (PTO) systems, which waste substantial amounts of energy. In this work, we examine a solution by designing and assessing a hybrid energy system that omits the alternators from the original vehicle and modifies the agricultural implements to replace the PTO power with electrical...

Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics

Agricultural Robots - Fundamentals and Applications

2017 European Conference on Mobile Robots (ECMR), 2017

This paper presents a summary of the current state of mobile robotics oriented to perform precisi... more This paper presents a summary of the current state of mobile robotics oriented to perform precision agricultural tasks on arable lands. Two approaches of robot configurations are identified and some relevant examples are mentioned in addition to identifying the trend of robotics in agriculture, the current limitations, and the following steps as understood by the authors for reducing the gap for increased inclusion of robotics in everyday agricultural tasks.

Biosystems Engineering, 2016

Advances in different technologies, such as global navigation satellite systems, geographic infor... more Advances in different technologies, such as global navigation satellite systems, geographic information systems, high-resolution vision systems, innovative sensors and embedded computing systems, are finding direct application in agriculture. These advances allow researchers and engineers to automate and robotise agricultural tasks no matter the inherent difficulties of the natural, semi-structured environment in which these tasks are performed. Following this current trend, this article aims to describe the development and assessment of a robotised patch spraty -20ying system that was devised for site-specific herbicide application in agricultural crops and is capable of working in groups or fleets of autonomous robots. The robotised patch sprayer consisted of an autonomous mobile robot based on a commercial agricultural vehicle chassis and a direct-injection spraying boom that was tailor-made to interact with the mobile robot. There were diverse sources (on-board and remote sensors) that can supply the weed data for the treatment. The main features of both the mobile robot and the sprayer are presented along with the controller that harmonised the behaviour of both main subsystems. Laboratory characterisation and field tests demonstrated that the system was reliable and accurate enough to accomplish the treatment over 99.5% of the detected weeds and treatment of the crop with no weed treated was insignificant; approximately 0.5% with respect to the total weed patches area, achieving a significant herbicide savings.

Computers and Electronics in Agriculture, 2015